Unmanned transport device having self-propelled transport vehicle for transporting receiving containers for slivers

Abstract

The invention relates to a driverless transport device (1) having a self-propelled transport vehicle (3) for transporting a receiving container (2; 2 ') of a sliver above a base surface (4) between a sliver-dispensing textile machine and a sliver-feeding textile machine. 202), the transport vehicle (3) having a running gear (24) with a plurality of running wheels (6, 7, 8, 9), the transport vehicle (3) being supported by the running gear (24) and having a plurality of transport wheels (22, 24) for receiving the containers (2; 202) for transporting a receiving container (2; 202) to a transport surface (26) of the receiving container (2; the invention relates to a transport device (1) for a transport vehicle (3), comprising a fastening element (11.2) for fastening the transport vehicle (2, 202) to a transport vehicle body (25), and an on-board electrical system (23) arranged on the transport vehicle body (25), said on-board electrical system having an electrical energy store (28), an electrical drive unit (32) and a control unit (42), and comprising a safety device (52) arranged on the transport vehicle (3) for collision detection, the safety device (52) is connected to the control unit (42) in a signaling manner and generates a switching signal in the event of an impact on an obstacle, characterized in that the size of the transport vehicle (3) is determined in such a way that the safety device (52) is fixed to the transport vehicle (3) when the receiving container (2; 202) is in contact with the transport surface (26) and fastened to the transport vehicle body (25), the receiving container (2) completely covers the chassis (24), the electric drive unit (32) and the electric energy store (28).

Description

Technical Field

[0001] The present invention relates to an unmanned transport device, comprising a self-propelled transport vehicle for transporting a receiving container for fiber strips above a base surface between a textile machine that delivers the fiber strips and a textile machine that feeds the fiber strips, wherein the transport vehicle comprises a running mechanism with a plurality of travel wheels, a transport vehicle body supported by the running mechanism and having a transport surface for receiving the container, a fastening element for fastening the receiving container to the transport vehicle body, and an on-board power system arranged on the transport vehicle body, the on-board power system comprising an energy storage device, an electric drive unit and a control unit, and the transport device comprises a safety device for collision recognition arranged on the transport vehicle, wherein the safety device is connected to the control unit by signal technology and generates a switching signal when colliding with an obstacle. Background Art

[0002] Typically, several hundred spinning cans (also called fiber cans or cans for short) are used in spinning mills, which are still mainly moved manually between the individual textile machines. This requires a high level of personnel input. In order to reduce the personnel input, efforts have been made for decades to automate the can transport.

[0003] A self-propelled transport vehicle for transporting spinning cans is known from CN 113668102A. The transport vehicle has a base, which is mounted on a travel mechanism equipped with a stepper motor. The base is equipped with a rotatably driven can placement area, on which the spinning cans can be mounted and rotated around the can axis when necessary. The can placement area is surrounded by an annular edge of the base, and a support structure extends vertically from the edge, and a mechanical arm with left and right side arms is provided at the upper end of the support structure. The two side arms form a hoop-like structure for fixing and receiving the spinning cans. The left and right side arms are respectively provided with control circuits, and both control circuits are connected to a controller, and the controller controls the reception and placement of the spinning cans through the mechanical arm. In addition, the mechanical arm adopts six degrees of freedom, including an arm, an elbow and a hand connected in sequence, and can be flexibly adjusted to receive and place the spinning cans as needed.

[0004] EP 0412463 A2 discloses a safety device for an unmanned transport vehicle having an open transport surface for receiving standing cans of spinning fibers. The transport surface has a liftable platform for receiving the cans. The safety device has at least one elastically suspended switching bar which in the load protection position extends vertically essentially at the can height and is assigned to the can edge in the rear region of the transport vehicle in order to generate a switching signal for stopping the transport vehicle in the region of the cans which are stationary on the transport vehicle when an obstacle is struck. Summary of the invention

[0005] The object of the present invention is to provide an unmanned transport device which allows less complex and easier to operate personal protection.

[0006] This object is achieved by an unmanned transport device of the type mentioned at the outset in that the transport vehicle is dimensioned such that in the assembled state in which the receiving container is in contact with the transport surface and fastened to the body of the transport vehicle, the receiving container completely covers the chassis, the electric drive unit and the electric energy storage device.

[0007] The advantage is that the unmanned transport device is protected by the receiving container in the assembled state, and the running gear, the electric drive unit and the electric energy storage device do not protrude from the receiving container. Therefore, the unmanned transport device only occupies the space occupied by traditional (i.e. manually moved) spinning cans. As a result, the design of the safety device for collision detection can be less complicated. When hitting an obstacle, the safety device generates a switching signal. The control unit preferably stops the transport vehicle after receiving the switching signal. As a result, the risk of personal accidents or property damage is reduced.

[0008] If spatial designations such as "upper", "lower", "above" and "below" are used, only the relative arrangement of the relevant components with respect to one another is described. These designations refer to a transport vehicle which is placed on a base surface with running wheels. The vertical axis of the transport vehicle is perpendicular to the base surface. The base surface can be the floor of a hall in a spinning mill, in which textile machines can be placed, a fixed ramp for eliminating height differences, the floor of a can changer of a textile machine, etc. The textile machine that hands over or feeds the fibers can be, for example, a spinning preparation machine, such as a drawing frame, a carding machine, a combing machine, a lap machine, etc. and / or a spinning machine, such as a rotor spinning machine, an air spinning machine, a roving machine, etc.

[0009] In another embodiment, the transport vehicle can be dimensioned in such a way that, in the assembled state, the receiving container completely covers the transport vehicle body. Thus, in the assembled state, the driverless transport device can be moved through the working area of ​​the textile machine, such as the filling position at the can changer or the like, like a conventional manually moved spinning can, and can thus also be used in the working area to perform various movements. For example, the driverless transport device can be rotated together on the can turntable of the textile machine or can be rotated by itself under the winding plate of the textile machine via a drivable travel mechanism.

[0010] In particular, the transport surface can define a support plane. The transport vehicle preferably has no components outside the transport surface that extend out of the support plane. Advantageously, therefore, no components extend upwards from the support plane through the side of the transport surface from below (i.e. from the running gear). In particular, "on the side of the transport surface" is to be understood as radially outside the transport surface with reference to the vertical axis of the transport vehicle. In this way, the transport vehicle has no interfering components on the side of the transport surface, such as edges, brackets, rods, loading and unloading devices, etc., so that the receiving container to be transported can be placed on the transport vehicle in a simple manner in the assembled state. The transport surface is preferably located in the support plane, which can be oriented parallel to the base surface. Inside the transport surface, i.e. the surface in contact with the receiving container in the assembled state, some fastening elements can be provided, which can in principle extend out of the support plane, such as bolts, screws or similar elements.

[0011] According to one embodiment, the transport device can include a receiving container, which is placed on the transport surface of the transport vehicle and is fastened to the transport vehicle body, wherein the receiving container completely covers the running gear, the electric drive unit and the electric energy storage device and in particular completely covers the transport vehicle body. In this assembled state, the receiving container also serves to protect the transport vehicle from obstacles, such as people or other objects that remain in the travel path of the unmanned transport device. In the assembled state, the unmanned transport device looks as close as possible to a standard can, i.e. a conventional, manually moved spinning can. Together with the assembled receiving container, the transport device can also be called a self-propelled can device.

[0012] In particular, the dimensions of the transport vehicle are determined relative to the receiving container or the transport vehicle is provided with an extension length perpendicular to the vertical axis fixed with the transport vehicle, so that the area requirement or functional area of ​​the transport vehicle during operation is at least substantially limited to the size of the placement surface or cross-section of the receiving container. The placement surface of the receiving container separated from the transport vehicle is understood as the ground of the base surface required for the receiving container in the placed state, regardless of whether the receiving container is in contact with the base surface. The functional area of ​​the transport vehicle is the ground area of ​​the base surface covered by the transport vehicle during operation. The structural dimensions of the transport vehicle are determined in this way so that when the receiving container is in contact with the transport surface and is fastened or assembled on the transport vehicle (= assembled state) by means of fastening elements, the transport vehicle is at least substantially located below the receiving container. "At least substantially" here should include: in the assembled state, the transport vehicle is almost completely arranged below the receiving container, wherein only individual components, especially components of the on-board power system, may extend out of the receiving container at the side, if there is a technical demand for this. However, in principle, the entire transport vehicle can also be completely covered by the receiving container. In the assembled state, the chassis, the electric drive unit and the transport surface are therefore located below the receiving container, ie are concealed from above by the receiving container in a plan view. The transport vehicle is therefore designed to transport only one receiving container.

[0013] The transport vehicle preferably carries a receiving container which is spaced apart from the fixed base surface. Advantageously, the onboard electrical system is also covered by the receiving container, wherein there may be technical requirements for individual components to be arranged outside the area covered by the receiving container. One such component may be, for example, a wireless module in order to improve the quality of the wireless connection to a higher-level master control device.

[0014] In particular, the receiving container has a filling space with an upwardly open filling opening for the fiber strip. When the receiving container is configured as a "round can", the placement surface can be round and correspondingly rectangular in the case of a "rectangular can".

[0015] Furthermore, the receiving container can be placed on the transport surface and fastened to the transport vehicle by means of fastening elements in such a way that the container axis of the receiving container coincides with the vertical axis of the transport vehicle of the transport vehicle. As a result, the unmanned transport device does not swivel outwards during rotation, thereby further improving personal protection. In particular, the vertical axis of the transport vehicle coincides with the yaw axis of the transport vehicle, so that the transport vehicle and thus the entire unmanned transport device can be rotated in situ. Furthermore, the unmanned transport device can include a bumper. The bumper can be fastened to the receiving container or the transport vehicle. According to one embodiment, the bumper can be arranged on a container wall that surrounds the filling space of the receiving container. According to another embodiment, the bumper can be fastened to a flange of the transport vehicle.

[0016] Preferably, the bumper is arranged in such a way that, in the assembled state, it projects outwardly beyond the receiving container or the receiving container to be transported. In other words, the bumper projects out of the receiving container away from the central can axis or the vertical axis of the transport vehicle. In the event of a collision with an obstacle, the driverless transport device thus first strikes the obstacle with the bumper. In particular, the bumper extends in a circumferential direction around the vertical axis of the transport vehicle or the can axis. The driverless transport device can also have a plurality of such bumpers, which can be arranged one above the other along the vertical axis of the transport vehicle and fastened to the receiving container and / or the transport vehicle.

[0017] The bumper can have a buffer element made of a flexible material, which extends in the circumferential direction around the yaw axis of the transport vehicle. The buffer element can be a flexible material segment, a flexible material layer or the like. The buffer element can be, for example, a rubber profile which, due to its flexibility, can be attached to the side wall of the receiving container or the transport vehicle from the outside and can bend flexibly when hitting an obstacle. In addition, the entire bumper can be designed to be as flexible as possible so that the impact momentum can be absorbed as much as possible when hitting an obstacle.

[0018] The safety device can also have a touch sensor, which is arranged in the bumper. In particular, the touch sensor can be arranged in the buffer element. Thus, the bumper can be configured as a sensor strip or switch strip, so that the compression caused when hitting an obstacle triggers a switch signal.

[0019] According to a first embodiment, the touch sensor can include a normally open contact for generating a switching signal, which is configured to close the contact when hitting an obstacle. For this purpose, wires, in particular uninsulated wires or contact strips, can extend in the bumper and preferably inside the buffer element, which wires can be connected to the input / output of the control unit. When hitting an obstacle, the wires or contact strips are locally compressed and a contact occurs that triggers the switching signal, so that the control unit can register the impact on the obstacle through the changed resistance and initiate further measures, such as stopping the transport vehicle.

[0020] According to a second embodiment, the touch sensor mechanism can include a normally closed contact for generating a switching signal, which is configured to open the contact in the event of a collision with an obstacle. For this purpose, a preload chain can be present inside the buffer element, which preload chain includes plastic parts and contact pads. In the event of a touch, the preloaded composite structure of the plastic elements is destroyed and the contact pads between the plastic elements lose their electrical connection. The chain can be connected to the input / output of the control unit. The interruption of contact caused by the collision can be detected by the control unit, so that the control unit can initiate further measures, such as stopping the transport vehicle.

[0021] Furthermore, it can be provided that the travel wheels define a wheel contact plane, wherein the bumper is arranged above the wheel contact plane at a distance of at least 10 mm and at most 40 mm. Thus, detection of a collision can be ensured.

[0022] In addition, the bumper can have a C-shaped open annular shape with two ring ends in the circumferential direction around the vertical axis of the transport vehicle, wherein a charging interface for charging the energy storage device can be arranged between the ring ends. The touch sensor preferably extends only on the bumper and is therefore not constructed in the area of ​​the charging interface. This simplifies the docking of the energy storage device to the charging station. However, the charging interface can also be arranged in an area covered by the receiving container and in particular on the lower side of the transport vehicle. In this way, the transport vehicle can "roll over" the connection contacts of the charging interface to charge. Similarly, inductive charging of the energy storage device can be provided.

[0023] In particular, the charging interface projects laterally out of the bumper and is arranged in a dimensionally stable electrical housing, wherein the end face of the electrical housing can be constructed as a concave arc. The curvature of the end face is at least approximately the same as the curvature of the side wall of the receiving container. This is very advantageous if the unmanned transport device comes into contact with another unmanned transport device or a standard can, since the other can can rest against the curved end face. For example, in a can changer, this can be advantageous if the unmanned transport device moves relative to another can (the "can to can" principle). In addition, an on / off switch accessible from the outside can be arranged on the electrical housing so that the power supply between the energy storage device and other components of the onboard power system can be manually interrupted. Instead of a C-shaped construction, the bumper can also be constructed as an annular closed structure.

[0024] In order to detect whether the driverless transport device has collided with an obstacle, monitoring of the axle torque of the driven travel wheels can also be provided. In the absence of collision detection, the control unit increases the axle torque when hitting an obstacle in order to overcome the resistance. The additional monitoring of the axle torque can thus reduce the risk of damage to the driverless transport device and the obstacle. The course after the collision can be determined by the user, and by default the control unit is designed to stop the transport vehicle immediately. In particular, the control unit is configured to monitor the current consumption of the drive unit and to stop the drive unit if a defined threshold value is exceeded.

[0025] The safety device may include further sensors for collision detection, such as acceleration sensors.

[0026] The self-propelled transport vehicle can be an automatic ground transport vehicle ("automated guided vehicle", "AGV" for short, or "automated mobile robot", "AMR" for short) for transporting receiving containers, which can travel along a preset fixed track or be freely guided, that is, without fixed lane guidance. Preferably, the unmanned transport device does not have a loading auxiliary device for loading and unloading receiving containers. More precisely, the unmanned transport device is modularly constructed and includes a self-propelled transport vehicle and a receiving container as modules. The modular structure can reduce manufacturing costs because the transport vehicle and the receiving container can be manufactured separately, even by different manufacturers. The transport vehicle is "married" to a receiving can and remains permanently connected to the receiving can (= assembled state). Preferably, it is only necessary to separate when the transport vehicle fails or for maintenance purposes. The purpose of this permanent connection is to save the process of loading and unloading the receiving container from the transport vehicle, which is considered a disadvantage. Fastening the receiving container to the transport vehicle is preferably an assembly step to be performed manually, which can also be performed by an industrial robot in principle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The preferred embodiments are described below with reference to the accompanying drawings.

[0028] Figure 1 A front view of an unmanned transport device arranged on a surface according to a first embodiment of the invention is shown, wherein the unmanned transport device is modularly constructed and has a receiving container according to the invention and a transport vehicle according to the invention for transporting the receiving container above the surface;

[0029] Figure 2 Show Figure 1 A rear view of an unmanned transport device;

[0030] Figure 3 Show Figure 1 A simplified cross-sectional view of an unmanned transport device;

[0031] Figure 4 Show Figure 1 a cross-sectional view of a receiving container;

[0032] Figure 5 Show Figure 1 a bottom view of a receiving container;

[0033] Figure 6 Show Figure 1 A top view of a transport vehicle, wherein only the bottom of the receiving container is indicated by dotted lines in order to indicate the size ratio;

[0034] Figure 7 Show Figure 1 A bottom view of a transport vehicle of FIG. 1 , wherein only the bottom of the receiving container is indicated by dotted lines in order to indicate the size ratio;

[0035] Figure 8 Show Figure 1 A cross-sectional view of a transport vehicle, wherein the transport vehicle is shown on a base surface;

[0036] Fig. 9 Show Figure 1 A schematic diagram of an onboard power system of a transport vehicle;

[0037] Fig.10 Show Figure 1 A bumper of an unmanned transport device having an integrated touch sensor mechanism;

[0038] Fig.11 An alternative embodiment of the touch sensor mechanism is shown;

[0039] Fig.12 An alternative embodiment of a touch sensor mechanism is shown; and

[0040] Fig.13A detail of an unmanned transport device according to a further specific embodiment of the invention is shown in a simplified sectional view. DETAILED DESCRIPTION

[0041] exist Figures 1 to 3 1 shows an unmanned transport device 1 according to one embodiment of the invention. The unmanned transport device 1 is modular and always has a self-propelled transport vehicle 3 according to the invention, which is used to transport a receiving container 2 for fiber strands over a base surface 4. In the embodiment shown here, the transport device includes a receiving container 2 according to the invention as a further module.

[0042] During operation, the driverless transport device 1 moves back and forth between textile machines (not shown) on a base surface 4 in order to transport the fiber strips from the textile machine that delivers the fiber strips to the textile machine that feeds the fiber strips. For this purpose, the transport vehicle 3 can follow guide elements 5 arranged on the base surface 4, which define the travel path in the spinning mill. Figures 1 to 3 As shown in , these guide elements 5 can be mounted on the surface of the base surface 4, in particular glued or embedded in the base surface 4. For example, slits and / or other shapes of recesses can be formed in the base surface 4, into which these guide elements 5 can be placed and then poured with epoxy resin or the like.

[0043] Figures 1 to 3 , in order to indicate the orientation of the driverless transport device 1 in space, the longitudinal direction X, the transverse direction Y and the vertical direction Z are indicated, which are defined in a Cartesian coordinate system assigned to the driverless transport device 1 and are indicated by corresponding arrows. When the driverless transport device 1 stands or moves on the base surface 4, the vertical direction Z can be perpendicular to the bottom plane extending from the base surface 4. The terms "lower", "below", "upper" or "above" refer here to the spatial indication of the driverless transport device 1 placed on the base surface 4.

[0044] The transport trolley 3 is inserted into the receiving container 2 from below, wherein the running wheels 6, 7, 8, 9 of the transport trolley protrude from the container bottom 10 of the receiving container 2. For sufficient clearance from the ground, the distance S2 of the receiving container 2 from the base surface 4 is between 10 mm and 50 mm, wherein a distance S2 of approximately 20 mm achieves particularly good results.

[0045] The receiving container 2 is in principle detachable, but is permanently connected to the transport vehicle 3. This state can also be called the "assembled state" and is Figures 1 to 3 Specifically, there are some fasteners 11 that cannot be accessed from the outside unless the unmanned transport device 1 is inverted. In this regard, these fasteners 11 can also be referred to as "built-in fasteners", which provide invisible fastening methods.

[0046] exist Figure 4 and Figure 5 Detailed description is given in the figure of the receiving container 2 according to the present invention. The receiving container has a cylindrical side wall 12, which extends coaxially with the container axis A2, which extends parallel to the vertical axis Z. The inner diameter D2 of the inner space surrounded by the side wall 12 is at least 350 mm and at most 1200 mm, and here is 500 mm by way of example. In addition, the receiving container 2 has a support structure 13, which is configured as a fixed container bottom in the form of a circular plate, the outer diameter of which is at least substantially equal to the inner diameter D2. The support structure 13 (also referred to as the container bottom) is set back and fixedly connected to the side wall 12. "Set back" here means that the container bottom 13 is offset away from the lower side 10 of the container toward the upper side of the receiving container 2 provided with the filling port 14. Thereby, the container bottom 13 divides the inner space into a filling space 15 open upwardly and a technical space 16 open downwardly. The fiber strips can be filled into the filling space 15 through the filling port 14 in a manner known per se and taken out from the filling space again. In the filling space, for example, a disk known per se (not shown) can be arranged, which disk can be spring-loaded, for example, and due to the weight of the fiber strands that increase during coiling, it will sink toward the container bottom 13. On the container bottom 10, a container opening 17 is formed, which can be aligned parallel to the filling opening 14 and through which the transport vehicle 3 can be inserted from below into the technical space 16. The inner diameter of the container opening 17 can be equal to the inner diameter D2 of the interior space, wherein the inner diameter can also be smaller in principle, as long as the transport vehicle 3 can still be placed in the technical space 16.

[0047] The extension length H16 of the technical space 16 in the vertical direction Z is, for example, 50 mm at a minimum and 260 mm at a maximum, and here is 110 mm by way of example. The extension length H15 of the filling space 15 in the vertical direction Z is, for example, 400 mm at a minimum and 1500 mm at a maximum, and here is 1200 mm by way of example. The filling volume of the filling space 15 is therefore about 339 liters here.

[0048] In the assembled state, the receiving container 2 is supported with its container bottom 13 on the transport vehicle 3. In order to fasten the receiving container 2 to the transport vehicle 3, some fastening means 11 include container-side fastening elements 11.1, which have, for example, bolts 11.1 oriented parallel to the container axis A2, onto which nuts 11.3 can be screwed. The bolts 11.1 (here, for example, four) can be integrally formed on the bottom underside 18 of the container bottom 13 facing the technical space 16, in particular welded thereon, as described in accordance with Figure 5 as visible in the bottom view.

[0049] Furthermore, a bumper 19 is arranged on the receiving container 2. The bumper is arranged on the outside of the side wall 12 in the circumferential direction around the container axis A2. The bumper 19 is fastened to the receiving container 2 and can be screwed and / or adhesively fixed to the side wall 12, for example. The bumper 19 is arranged above the wheel support plane E at a distance of at least 10 mm and at most 40 mm.

[0050] exist Figure 5 It can also be seen that the bumper 19 has a C-shaped open annular shape with two ring ends 20. A wall opening 21 is formed in the side wall 12 between the two ring ends 20, which is located on the back side of the receiving container 2. Figure 2 1 shows a rear view of the driverless transport device 1, from which it can be seen that the electrical housing 22 of the transport vehicle 3 passes through the wall opening 21 and protrudes laterally from the bumper 19. Alternatively, if the receiving container 2 is designed in a sleeve-like manner, in which the container bottom 10 of the receiving container 2 is flush with the container bottom 13, the bumper 19 can also be arranged on the transport vehicle 3. Fig.13 This alternative implementation is shown in FIG. 1 and discussed in detail later.

[0051] exist Figures 6 to 8 The transport vehicle 3 according to the invention is shown in detail in FIG. Figure 6 and Figure 7 The circular contour of the container bottom 13 is drawn in dashed lines only to illustrate that the transport vehicle 3 is substantially covered by the receiving container 2 (more precisely, the container bottom 13) in the assembled state. It can be seen that only the electrical housing 22 of the transport vehicle 3 and some components of the onboard electrical system 23 of the transport vehicle that are arranged in or on the electrical housing 22 are located outside the covered area or protrude from this area.

[0052] Specifically, the transport vehicle 3 includes a running gear 24 having four running wheels 6, 7, 8, 9, a transport vehicle body 25 supported by the running gear 24, a transport surface 26 that can be in contact with the container bottom 13 of the receiving container 2, and an on-board power system 23 arranged on the transport vehicle body 25. In addition, the transport vehicle body 25 has a rigid seat plate 27, wherein the upper side of the seat plate facing away from the running gear 24 contains the transport surface 26. The seat plate 27 has a surrounding surface 56 surrounding the yaw axis A3, which is designed to be exposed radially outward and defines the outer edge 43 of the seat plate 27. The transport surface 26 extends to the outer edge 43 of the seat plate 27. The transport surface 26 is in a support plane E26, which is parallel to the longitudinal direction X and the transverse direction Y and perpendicular to the yaw axis A3 of the transport vehicle 3. The transport vehicle 3 has no components in the support plane E26 outside the transport surface 26, or radially outside the transport surface 26 with respect to the yaw axis A3. The yaw axis A3 corresponds to the transporter vertical axis. Advantageously, the yaw axis A3 extends through the center of gravity of the transporter 3. The on-board electrical system 23 is arranged completely below the support plane 26.

[0053] In order to fasten the receiving container 2 to the transport vehicle 3, some of the fastening means 11 also include fastening elements 11.2 on the transport vehicle side, which cooperate with some of the fastening elements 11.1 on the container side or are oriented relative to each other in such a way that in the assembled state, the container axis A2 of the receiving container 2 coincides with the vehicle-fixed yaw axis A3 of the transport vehicle 3. The fastening elements 11.2 on the transport vehicle side can include through-holes, which are formed in the base plate 27 and in particular in the area of ​​the transport surface 26, and into which the bolts 11.1 on the container side can be inserted. In the assembled state, the bolts 11.1 are inserted into the through-holes 11.2 and the nuts 11.3 are screwed onto the bolts 11.1 from below in order to fasten the container bottom 13 and the base plate 27 relative to each other.

[0054] On-board power system 23 Fig. 9. It has an electrical energy storage device 28, in particular a battery, which is fixedly mounted in the transport vehicle 3, and a charging interface 29 for charging the energy storage device 28 at an external charging station. It goes without saying that the energy storage device 28 can be replaced in the event of a fault. The charging interface 29 can be arranged in the electrical housing 22 so as to be accessible from the outside. The electrical housing 22 is fixed to the transport vehicle body 25 and can be made of a shape-stable plastic. The electrical housing 22 preferably has an end face 30 with a concave shape. The curvature of the end face 30 is at least approximately the same as the curvature of the side wall 12. If the unmanned transport device 1 is in contact with another unmanned transport device 1 or a standard can, this is very advantageous because the other can can be placed against the curved end face 30. For example, if the unmanned transport device 1 moves relative to another can (the "can to can" principle), this can be the case in a can changer. Furthermore, an on / off switch 31 accessible from the outside may be arranged on the electrical housing 22 in order to be able to manually interrupt the power supply between the energy store 28 and other components of the onboard electrical system 23 .

[0055] Furthermore, the onboard electrical system 23 comprises an electric drive unit 32, which is here exemplarily connected to the travel wheels 6, 7 in a driving manner. The two travel wheels 6, 7 are designed as fixed wheels, which are aligned in the longitudinal direction X and are arranged spaced apart from each other in the transverse direction Y. They have fixed rotation axes 33, 34 relative to the transport vehicle body 25, and both are located on an imaginary straight line perpendicular to the yaw axis A3 of the running gear 3. Figure 6 and Figure 7 As can be seen in FIG. 1 , the imaginary straight line and the diagonal line D2 of the container bottom 13 represented by the dotted line are parallel to each other and are in a common plane. The imaginary straight line divides the transport vehicle body 25 into a front section 35 and a rear section 36 in the longitudinal direction X. The two sections 35 and 36 can be of the same size, so that the imaginary straight line is in the middle plane E3 where the transport vehicle transverse axis Y and the yaw axis A3 are unfolded. The transport vehicle body 25 can be constructed symmetrically to the middle plane E3. The electrical housing 22 is fixed to the rear section 36 and protrudes from the rear edge 37 of the transport vehicle body 25.

[0056] The drive unit 32 has an electric motor 38, 39, in particular a wheel motor, for each fixed wheel 6, 7. The electric motors 38, 39 configured as wheel motors can be integrated into the fixed wheels 6, 7. The electric motors 38, 39 are arranged on the housing beam 40 extending from the seat plate 27 of the transport vehicle body 25, so that the fixed wheels 6, 7 remain behind the support plane E26. In addition, the drive unit 32 has a servo converter for each electric motor 38, 39, which are structurally combined into a two-way converter 41 here. Instead of the servo converter, a frequency converter or other methods for realizing the specified speed of the electric motor 38, 39 can also be used. The two-way converter 41 is connected to the two electric motors 38, 39 and the electric energy storage device 28. With the help of the two-way converter 41, the two electric motors 38, 39 can be operated in the same direction or in the opposite direction and at the same or different speeds. Thus, the transport vehicle 3 can turn and can also rotate in situ during reverse control, or rotate around the yaw axis A3. In order to control the electric motors 38 , 39 , the bidirectional converter 41 is connected to a control unit 42 of the onboard electrical system 23 .

[0057] The control unit 42 is a programmable controller with a programmable storage medium, configured to control the transport vehicle 3. It is exemplarily constructed as a single device here and is installed in a control housing. The control housing is fastened to the transport vehicle body 25, in particular to the lower side of the seat plate 27. In order to monitor the energy storage device 28, the on-board power system 23 can have a battery management system. For this purpose, the control unit 42 can be connected to the energy storage device 28. In order to communicate with a higher-level main control device, a textile machine or a mobile device (smartphone, tablet computer, etc.), the control unit 42 can be connected to a wireless module 44, which can be installed in the electrical housing 22.

[0058] Furthermore, the onboard power system 23 has a reading unit, which is configured to detect the guide element 5 arranged on the base surface. The reading unit 45 is preferably arranged only on a functional section 46 of the transport vehicle body 25, which is configured between the two fixed wheels 6, 7 in the transverse direction Y. The functional section 46 has a width B46, or an extension in the transverse direction Y, of at least 250 millimeters and a maximum of 1200 millimeters, and extends in the longitudinal direction X through the front section 35 and the rear section 36. The transport vehicle 3 is thereby dimensioned for the transport of the receiving container 2, which is configured here as a "round can". In order to be able to be mounted on the receiving container 2, which is configured as a "rectangular can", the dimensions of the transport vehicle 3 are correspondingly reduced. The functional section 46 can then also have a width of at least 150 millimeters and at most 1200 millimeters.

[0059] The reading unit 45 comprises a tape reader 47, which is configured for contactless detection of the direction of the guide element 5 designed as a magnetic tape 5.1. The tape reader 47, which can also be called a magnetic scanner, is arranged at the front end of the transport vehicle body 25 in the main driving direction (forward driving) or in the longitudinal direction X. The tape reader 47 has a sensor housing, in which a plurality of sensors (e.g. eight) are arranged at intervals in the transverse direction Y. The width of the sensor housing, or the extension in the transverse direction Y, can be between 50 mm and 200 mm. The distance between the sensor and the base surface, or the distance from the wheel support plane E24 extending from the fixed wheels 6, 7, which coincides with the bottom surface plane when driving over the base surface 4, can be between 20 mm and 50 mm. The width of the magnetic strip can be between 6 mm and 50 mm.

[0060] In addition, the reading unit 45 has an RFID tag reading device 48, which is configured to read out information of the guide element 5 designed as an RFID tag 5.2. The RFID tag reading device 48 can also be called an RFID reading device. The RFID tag reading device 48 is arranged below the seat plate 27 and is located on a frame 49 fastened to the seat plate 27 so that the RFID tag reading device 48 is kept close to the base surface 4, especially the guide element 5.2, when the transport vehicle 3 is running. The frame 49 surrounds the energy storage device 28 here, so that the energy storage device is arranged between the seat plate 27 and the RFID tag reading device 48 in the vertical direction Z. With the help of the RFID tag reading device 48, for example, address information can be read from the RFID tag 5.2 and transmitted to the control unit 42. The RFID tag 5.2 is usually less than 50 mm in diameter. In order to protect the on-board power system 23, a bottom guard plate 50 is arranged from below, which is arranged on the transport vehicle body 25 and can have a gap 51 in the area of ​​the RFID tag reading device 48.

[0061] exist Figure 7 It can be seen that the travel wheels 8, 9 designed as support wheels are arranged in the transverse direction Y between the two fixed wheels 6, 7 and are arranged eccentrically, or supported on the transport vehicle body 25. Their transverse spacing with respect to the longitudinal axis L of the transport vehicle is, for example, about 90 millimeters in each case, so that the two support wheels 8, 9 have a spacing of about 180 millimeters relative to each other in the transverse direction Y. A functional section 46 is formed between the support wheels 8, 9, which is therefore independent of the travel wheels 6, 7, 8, 9, in order to protect the guide element 5 during the operation of the unmanned transport device 1. In principle, however, the support wheels 8, 9 can also be arranged centrally, that is, on the longitudinal axis of the transport vehicle.

[0062] The support wheels 8, 9 are each pivotably held on the transport vehicle body 25 about a respective pivot axis A8, A9, which is oriented parallel to the vertical axis Z. The support wheels 8, 9 are freely pivotable about the pivot axes A8, A9, so that they can pivot through 360 degrees or more. The support wheel 8, which can also be referred to as the front support wheel, is supported on the front section 35, and the support wheel 9, which can also be referred to as the rear support wheel, is supported on the rear section 36. The front support wheel 8 is non-sprung and the rear support wheel 9 is sprung on the transport vehicle body 25. In order to improve the stability of the transport vehicle 3, the support wheels 8, 9 can be arranged as far as possible outside the transport vehicle body 25, and as Figure 3 The dotted line 57 is only shown as an example, lying on an imaginary circular line. However, in principle, the support wheels 8, 9 can also be arranged at different distances from the middle plane E3, in which the two rotation axes 33, 34 lie. Advantageously, the center of gravity of the transport vehicle 3 lies in the middle plane E3, in which the transport vehicle transverse axis Q also extends.

[0063] The overall height H3 of the transport carriage 3 is, for example, 140 mm here. The transport carriage 3 ends at the transport surface 26. The overall height H3 is therefore determined by the distance between the transport surface 26 and the base surface 4 or the wheel contact plane E24.

[0064] The transport vehicle 3 thus has such a compact design that, in the assembled state, it at least substantially disappears beneath the receiving container 2 or its container bottom 13. Only individual components, in particular components of the onboard electrical system 23, may project laterally beyond the container bottom 13, as there is a technical need for this. This may be, for example, a charging interface 29, an on / off switch 31 and a wireless module 44, which are arranged in or on the electrical housing 22. In the assembled state, the chassis 24, the electric drive unit 32, the electrical energy storage device and the transport surface 26 are therefore completely covered. In addition, as shown in FIG. Figures 1 to 8 As can be seen in the figure, the receiving container 2 or its container bottom 13 can also completely cover the seat plate 27 and the fastening element 11 and at least substantially cover the onboard power system 23. In particular, the control unit 42 and the reading unit 45 can be covered by the onboard power system 23.

[0065] Furthermore, the onboard electrical system 23 can have a safety device 52 for collision detection. The safety device can have components located outside the area covered by the receiving container 2 in order to be able to detect a collision or impact with an obstacle located in the driving path of the driverless transport device 1 as early as possible. For example, a contact sensor 53 can be integrated in the bumper 19, which is connected to the control unit 42 in order to stop the transport vehicle 3 when a collision is detected. The bumper 19 is designed in a C-shaped manner here and the electrical housing 22 protrudes radially outward between the two ring ends 20. Therefore, the end face 30 of the electrical housing 22 can be used to make another can abut against its side wall ("can-to-can" principle) in order to move another can. The safety device 52 can include a safety relay 54 to monitor whether there is a connection between the contact sensor 53 and the control unit 42. If the contact sensor 53 is not connected correctly, the control unit 42 can disconnect or stop the drive unit 32 for safety reasons. Thus, the touch sensor mechanism 53 can be designed like a closer (normally open contact) and only closes when it hits an obstacle. To this end, the bumper 19 can have a buffer element 63 made of a flexible material, which extends in the circumferential direction around the yaw axis A3 of the transport vehicle 3, wherein the touch sensor mechanism 53 is arranged in the buffer element 63. The buffer element 63 is locally compressed, preferably elastically compressed, due to the impact energy when hitting the obstacle, and the touch sensor mechanism 53 installed in the buffer element 63 generates a switching signal. Specifically, the touch sensor mechanism 53 is like a Fig.10 As shown in FIG. 4 , there are two wires 58, 59, one of which can be connected to the negative pole of the energy storage device 28 and the other can be connected to the positive pole of the energy storage device. In the static state or normal state shown here, the wires 58, 59 are arranged spaced apart from each other in the bumper 19 until their wire ends 60, 61. The bumper 19 is only partially compressed when it hits an obstacle or is subjected to impact energy, thereby causing the outer wire 59 to deflect toward the inner wire 58 and touch the latter (crash state). As soon as the control unit 42 detects the switching signal, it initiates a predetermined safety measure, such as stopping the unmanned transport device 1, for example by braking or stopping the transport vehicle 3 or the drive unit 32. However, in principle, a normally closed contact can also be used instead of a low-cost normally open contact.

[0066] For safety reasons, it can be provided that the drive unit 32 is designed to enable the transport vehicle 3 to travel at a maximum travel speed of 0.5 m / s over the base surface 4, further preferably at a maximum travel speed of 0.3 m / s. In addition, the drive unit 32 can be designed to enable a maximum travel speed of a total weight of 200 kg.

[0067] exist Figure 6 and Figure 7It can be seen that the area of ​​the seat plate 27 is smaller than the area of ​​the container bottom 13. The seat plate 27 can be polygonal in a top view and is only designed as an octagon here by way of example, i.e. with eight corners and eight sides. In the four corner regions formed opposite the circular container bottom 13, in which the container bottom 13 protrudes from the seat plate 13, holes can be formed in the container bottom 13 (not shown), through which smaller strip residues or other dirt accumulated in the filling space 15 can fall downward through the technical space 16 and float onto the base surface 4. In this case, the holes are preferably formed between the corresponding fixing wheels 6, 7 and the functional section 14.

[0068] exist Fig.11 , an alternative embodiment of the touch sensor mechanism 53 is shown, in which the two wire ends 60, 61 of the wires 58, 59 are connected to each other via a resistor 62. In this embodiment, the on-board power system 23 does not require a safety relay 54. One of the two wires 58; 59 can be connected to the input of the control unit 42 and the other of the two wires 59; 58 can be connected to the output of the control unit. If the touch sensor mechanism 53 is correctly connected (static state or normal state), the resistance between the input and the output is equal to the size of the resistor 62, for example, it can be 8 kilo-ohms. If the two wires 58, 59 partially contact each other when hitting an obstacle (collision state), the resistance between the input and the output drops to a value close to zero ("short circuit"). The touch sensor mechanism 53 can generate a switching signal in this way, based on which the control unit 42 can recognize the collision and initiate measures. On the contrary, if the touch sensor mechanism 52 is not connected correctly or one of the wires 58, 59 is broken, the resistance between the input and output will be infinite. Then, the control unit 42 can cut off or stop the drive unit 32 for safety reasons.

[0069] exist Fig.12 Another embodiment of the touch sensor mechanism 53 is shown in FIG. 4 , in which two wires 58, 59 each form a closed circle. For this purpose, the wires 58, 59 are connected to the input and output of the control unit 42. The control unit monitors whether the circle formed by the corresponding wires 58, 59 is closed (stationary state or normal state). If the touch sensor mechanism 53 is not connected correctly or one of the wires 58, 59 is broken, the control unit 42 records this. The control unit 42 can then cut off or stop the drive unit 32 for safety reasons. If the two wires 58, 59 partially touch each other when hitting an obstacle (collision state), the control unit 42 recognizes the collision and can initiate safety measures.

[0070] Fig.132 shows an unmanned transport device 200 according to a second embodiment of the present invention, which is similar to Figures 1 to 12 The same or modified details are provided in the same Figures 1 to 12 The same reference numerals are used in FIG. 1 . The difference lies in the arrangement of the bumper 19 with the integrated contact sensor 42 . The bumper 19 is fastened to the transport vehicle 3 here.

[0071] For the sake of clarity, the receiving container 202 is shown cut away at the top. Fig.13 The receiving container 202 has a sleeve-like basic shape, wherein the container bottom 13 is flush with the underside of the receiving container 202. Therefore, the receiving container 202 has no technical space in which the transport vehicle 3 can be inserted. Rather, the receiving container 202 lies flat on the seat plate 27 of the transport vehicle 3. Figure 3 In the first embodiment shown in FIG. 1 , the fastening means 11 is concealed by the receiving container 2. The container-side fastening elements 11.1 are here also designed as screws, for example, which are oriented parallel to the container axis A2 and pass through the fastening elements on the transport vehicle side in the form of through-holes formed in the base plate 27 and in particular in the region of the transport surface 26. Nuts 11.3 are screwed onto the screws 11.1 on the underside of the base plate 27 in order to tighten the container bottom 13 relative to the base plate 27.

[0072] The bumper 19 is arranged on the transport vehicle 3. For this purpose, the transport vehicle 3 can have a flange 103 oriented parallel to the yaw axis A3, which can be formed on the seat plate 27 and can extend downward from the seat plate. The bumper 19 can be fastened to the flange 103 from the outside. The touch sensor 53 can be integrated in the bumper 19, such as in Figures 10 to 12 As described in the implementation manner of FIG.

[0073] Reference numerals list

[0074] 1.200 Transport device 46 functional section

[0075] 2. 202 Receiving container 47 Magnetic tape reading device

[0076] 3 transport vehicle 48 RFID tag reading device

[0077] 4 base 49 rack

[0078] 5 guide element 50 bottom guard plate

[0079] 6 Traveling wheels, or fixed wheels 51 gaps

[0080] 7 Traveling wheels, or fixed wheels 52 Safety devices

[0081] 8 Travel wheel, or support wheel 53 touches the sensor mechanism

[0082] 9 Travel wheel, or support wheel 54 Safety relay

[0083] 10 Container lower side 55 intersection

[0084] 11 Fastener 56 Surrounding surface

[0085] 12 side wall 57 round line

[0086] 13 support structure 58 wire

[0087] 14 filling port 59 wire

[0088] 15 Filling space 60 Wire end

[0089] 16 Technical Space 61 Wire Ends

[0090] 17 container mouth 62 resistor

[0091] 18 bottom lower side 63 cushioning element

[0092] 19 Bumper

[0093] 20 ring end 103 flange

[0094] 21 Wall opening

[0095] 22 Electric housing

[0096] 23 On-board power system

[0097] 24 Traveling mechanism

[0098] 25 Transport vehicle body

[0099] 26 Transportation

[0100] 27 Seat Plate

[0101] 28 Energy storage device

[0102] 29 Charging port

[0103] 30 End side

[0104] 31 On / Off switch

[0105] 32 Drive Units

[0106] 33 Rotation axis

[0107] 34 Rotation axis A axis

[0108] 35 Transverse extension length or width of the front section B

[0109] 36 Rear section D diameter or diagonal

[0110] 37 Rear edge E plane

[0111] 38 Electric motor F Main driving direction

[0112] 39 The vertical extension length of the electric motor H, or height

[0113] 40 Shell pillar L transport vehicle longitudinal axis

[0114] 41 double converter S spacing

[0115] 42 Control unit Q Transport vehicle horizontal axis

[0116] 43 outer edge X longitudinal

[0117] 44 wireless module Y horizontal

[0118] 45 Reading unit Z vertical direction

Claims

1. An unmanned transport device (1) having a self-propelled transport vehicle (3) for transporting a receiving container (2; 202) for fiber slivers over a base surface (4) between a textile machine that delivers the fiber slivers and a textile machine that feeds the fiber slivers, wherein: The transport vehicle (3) comprises a running gear (24) with a plurality of running wheels (6, 7, 8, 9), a transport vehicle body (25) supported by the running gear (24), the transport vehicle body (25) having a transport surface (26) for the receiving container (2; 202), a plurality of fastening elements (11.2) for fastening the receiving container (2; 202) to the transport vehicle body (25), and an on-board power system (23) arranged on the transport vehicle body (25), the on-board power system having an electric energy storage device (28), an electric drive unit (32) and a control unit (4 2), and the transport device has a safety device (52) for collision recognition arranged on the transport vehicle (3), wherein the safety device (52) is connected to the control unit (42) in a signal technology manner and generates a switching signal when colliding with an obstacle, characterized in that the size of the transport vehicle (3) is determined as follows: in the assembled state in which the receiving container (2; 202) is in contact with the transport surface (26) and is fastened to the transport vehicle body (25), the receiving container (2) completely covers the traveling mechanism (24), the electric drive unit (32) and the electric energy storage device (28).

2. The unmanned transport device (1) according to claim 1, characterized in that: The transport surface (26) defines a support plane (E26), wherein the transport vehicle (3) has no components outside the transport surface (26) that protrude beyond the support plane (E26).

3. The unmanned transport device (1) according to claim 1 or 2, characterized in that: The transport device (1) comprises a receiving container (2; 202), which is placed on the transport surface (26) of the transport vehicle (3) and is fastened to the transport vehicle body (25), wherein the receiving container (2; 202) completely covers the running gear (24), the electric drive unit (32) and the electric energy storage device (28).

4. The unmanned transport device (1) according to claim 3, characterized in that The transport device (1) comprises a bumper (19) which projects outwardly from the receiving container (2), wherein the bumper (19) is fastened to the receiving container (2).

5. The driverless transport device (1) according to any one of claims 1 to 3, characterized in that The transport device (1) comprises a bumper (19) which is fastened to a flange (103) of the transport vehicle (3).

6. The unmanned transport device (1) according to claim 4 or 5, characterized in that: The safety device (52) has a contact sensor system (53) which is accommodated in the bumper (19).

7. The unmanned transport device (1) according to claim 6, characterized in that The bumper (19) has a buffer element (63) made of a flexible material, which extends in the circumferential direction around a vertical transport vehicle axis (A3) of the transport vehicle (3), wherein the touch sensor (53) is arranged in the buffer element (63).

8. The unmanned transport device (1) according to claim 6 or 7, characterized in that: The touch sensor device (53) comprises a normally open contact (60, 61) for generating a switching signal, wherein the normally open contact is configured to close the contact when an obstacle is hit.

9. The unmanned transport device (1) according to claim 6 or 7, characterized in that: The touch sensor mechanism (53) comprises a normally closed contact for generating a switching signal, wherein the normally closed contact is configured to open the contact when colliding with an obstacle.

10. The driverless transport device (1) according to any one of claims 4 to 9, characterized in that The travel wheels (6, 7) define a wheel contact plane (E24), wherein the bumper (19) is arranged above the wheel contact plane (E24) at a distance of at least 10 millimeters and at most 40 millimeters.

11. The driverless transport device (1) according to any one of claims 4 to 10, characterized in that The bumper (19) has a C-shaped open ring shape with two ring ends (20), wherein a charging interface (29) for charging an energy store (28) is arranged between the ring ends (20).

12. The unmanned transport device (1) according to claim 11, characterized in that The charging interface (29) projects laterally beyond the bumper (19) and is arranged in a dimensionally stable electrical housing (22), wherein the end face (30) of the electrical housing (22) is designed in a concave arc shape.

13. The driverless transport device (1) according to any one of claims 1 to 12, characterized in that The control unit (42) is configured to monitor the current consumption of the drive unit (32) and to stop the drive unit (32) when a defined threshold value is exceeded.

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